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Check the brake fluid level and if that is okay take the coach to a Ford Service Center.

From Page 14 of the 2015 F53 Chassis Owners Manual:

The yellow light

Brake Reserve System (If Equipped)

Illuminates to indicate normal hydromax booster reserve
system activation when the engine is off and the service brake pedal is
applied. This light may also illuminate momentarily if the engine is running and the driver turns the steering wheel fully in one direction while braking.

If the light remains on while the engine is running, this indicates inadequate hydraulic booster pressure or reserve pump system failure. Stop the vehicle as soon as possible and seek service immediately by your authorized dealer.

The red light

Brake System

Illuminates when you engage the parking brake with the ignition on.

If it illuminates when you are driving, check that the parking brake is not engaged. If the parking brake is not engaged, this indicates low brake fluid level or a brake system malfunction. Have the system checked immediately by your authorized dealer.